Formation control of multi-agent systems has been inspired by collective animal behavior in nature, e.g. school of fish, formation of birds, pack of wolves, and more. The position-based, displacement-based, and distance-based controls are three general categories of formation control [1]}. The distance-based control, in comparison with other methods, requires fewer measurements and higher interactions among the agents [1]}.
In distance-based formation control methods, interaction topology is usually described by graph rigidity or persistence, while in displacement-based formation control the interaction topology is modelled by connectedness (graph Laplacian) [1]}. Interactions can be modeled either by an undirected or directed graph.
